We note that the formulation of the first two competing methods and the proposed one allow for sensor fusion with visual sensors, while other methods yield pose estimates only based on IMU measurements. Additionally, the gyro de-noising [1]} method only computes rotational estimates, while all other methods compute both positional and rotational measurements. The motivation of also comparing [1]} in experiments is due to the fact that the algorithm design in that work is similar to us by pre-filtering the sensory data.
